EP0012282A1 - Device for measuring and registering the position, the attitude and/or the variation in position or attitude of a rigid body in space - Google Patents

Device for measuring and registering the position, the attitude and/or the variation in position or attitude of a rigid body in space Download PDF

Info

Publication number
EP0012282A1
EP0012282A1 EP79104776A EP79104776A EP0012282A1 EP 0012282 A1 EP0012282 A1 EP 0012282A1 EP 79104776 A EP79104776 A EP 79104776A EP 79104776 A EP79104776 A EP 79104776A EP 0012282 A1 EP0012282 A1 EP 0012282A1
Authority
EP
European Patent Office
Prior art keywords
field
sensor elements
field flow
cuboid
field generator
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP79104776A
Other languages
German (de)
French (fr)
Other versions
EP0012282B1 (en
Inventor
Bernd Dipl.-Ing. Nickel
Wolfgang Schorr
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Siemens AG
Original Assignee
Siemens AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Siemens AG filed Critical Siemens AG
Publication of EP0012282A1 publication Critical patent/EP0012282A1/en
Application granted granted Critical
Publication of EP0012282B1 publication Critical patent/EP0012282B1/en
Expired legal-status Critical Current

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A61B5/1113—Local tracking of patients, e.g. in a hospital or private home
    • A61B5/1114—Tracking parts of the body
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A61B5/1126—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb using a particular sensing technique
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
    • A61C19/00—Dental auxiliary appliances
    • A61C19/04—Measuring instruments specially adapted for dentistry
    • A61C19/045—Measuring instruments specially adapted for dentistry for recording mandibular movement, e.g. face bows
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/004—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring coordinates of points
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes
    • G01B7/31—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes for testing the alignment of axes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
    • G01D5/142—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices
    • G01D5/145—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices influenced by the relative movement between the Hall device and magnetic fields
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
    • A61B2562/04—Arrangements of multiple sensors of the same type
    • A61B2562/046—Arrangements of multiple sensors of the same type in a matrix array
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/45—For evaluating or diagnosing the musculoskeletal system or teeth
    • A61B5/4528—Joints
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
    • A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
    • A61B5/6813—Specially adapted to be attached to a specific body part
    • A61B5/6814—Head

Definitions

  • the invention relates to a device for measuring and registering the location, the position and / or the change in position or location of a rigid body in space using a field generator arranged on the body directly or at a distance therefrom, preferably a magnetic field generator, which has a defined Irregular field generated with transducers arranged at a distance from the field generator and independent of the body with field flow-dependent sensor elements for detecting the field flow or a field flow change during a measurement as well as with an electronic device for obtaining and evaluating electrical signals generated during a field flow or a field flow change.
  • a field generator arranged on the body directly or at a distance therefrom, preferably a magnetic field generator, which has a defined Irregular field generated with transducers arranged at a distance from the field generator and independent of the body with field flow-dependent sensor elements for detecting the field flow or a field flow change during a measurement as well as with an electronic device for obtaining and evaluating electrical signals generated during a field flow or a field flow change.
  • German patent application P 28 14 551 a device of the type mentioned is proposed in which a V-shaped permanent magnet as the field generator, and six rod-shaped magnetic flux sensors are provided for detecting the field flux or a change in the field flux.
  • the magnetic flux sensors are arranged in pairs in three mutually perpendicular planes; their arrangement thus creates three surfaces perpendicular to each other.
  • the entire transducer system is laterally offset on the patient. Because of the asymmetrical arrangement of the system, non-linear signals result which, in order to be evaluable at all, have to be linearized electronically with a corresponding circuit outlay.
  • the operation of the device is also too complicated and time-consuming for the doctor with regard to the adjustment of the magnetic field sensors on the patient's head and with regard to the zero adjustment of the electronics.
  • the adjustment of the linearization amplifier is also problematic because an inaccuracy, e.g. caused by a temperature drift, due to the nonlinear characteristic of the sensor elements used (usually Hall generators), which contain the sensors, on the sensitivity and thus on the reproducibility of the obtained ones Signals affects.
  • the object of the invention is to provide a better and simpler device of the type mentioned, which in particular requires less circuitry for signal evaluation and is easier to operate, so that even the doctor as a non-specialist can easily adjust the transducers.
  • the object is achieved in a device of the type mentioned in accordance with the invention in that the sensor elements or the reference points of the transducers which are decisive for detecting the field flow or the change in the field flow are arranged such that they form the corner points of a cuboid and that the field generator is arranged within the space determined by the corner points of the cuboid.
  • the arrangement proposed according to the invention is constructed symmetrically, so that a simpler circuitry for evaluating the signals obtained by the sensors can be achieved.
  • 1 shows a diagrammatic representation of the device according to the invention in a particularly advantageous application, namely in dentistry, for determining the location, the position and / or a change in location or position of a point on the lower jaw of a patient.
  • 1 denotes the head of a patient and 2 the lower jaw.
  • 3 with a permanent magnet serving as a field generator is designated, which is attached intraorally at any point on the lower jaw by means of suitable adhesives or adhesives (eg impression material).
  • the magnetic field generator 3 consists of two bar magnets of the same dimensions, as described in more detail in the German patent application P 27 15 106. The opening angle of the two bar magnets is approximately 90 °.
  • the bar magnets are relatively small; they have a length of approximately 3 mm and a cross section of approximately 1 mm square.
  • the magnetic field generator 3 generates two irregular, non-rotationally symmetrical magnetic fields M 1 and M 2 indicated by dashed lines in the figure.
  • a magnetic flux sensor arrangement 4 consisting essentially of a frame 5 held on the patient's head 1 and a sensor system with a sensor block 6 and 7 located to the left and right of the lower jaw.
  • the frame 5 is designed in a known manner as a combined glasses or head frame and contains several, unspecified joints to adapt to the different head constellations of a patient.
  • the two sensor blocks 6, 7 are through a rod 8 connected to the frame 5 rigidly connected to one another.
  • Each of the sensor blocks 6, 7 contains four magnetic flux sensors I to VIII, which are held in a plastic housing 9 and 10, respectively, in such a way that they are in each case parallel to one another.
  • the signals recorded by the magnetic flux sensors I to VIII are fed via lines 10 to an electronic evaluation device 11ind from there to a suitable indicator device 12.
  • Each magnetic flux sensor contains a platelet-shaped Hall generator 13 serving as a sensor element, on the effective surface of which (denoted by 24 in FIG. 3) there are antenna rods 14, 15 of mu-metal of different lengths on both sides.
  • the signals picked up by the magnetic flux sensors I to VIII or by the Hall generators 13 are fed increasingly to the electronics unit 11 via the preamplifier 16 arranged in the housing 9.
  • the preamplifier 16 By arranging a preamplifier in the two housings 9 and 10, the number of lines 10 to the electronics unit 11 can be reduced.
  • the transducer contains a sleeve 17 made of non-ferromagnetic material, preferably made of plastic, into which a supporting part for the Hall generator 13 is inserted, which consists of two parts 18, 19.
  • the two support parts 18, 19 are with ent speaking holes for guiding the shorter antenna rod 14 on the one hand and the longer antenna rod 15 on the other hand.
  • the supporting parts 18 and 19 are guided in the sleeve 17 in a longitudinally movable manner.
  • a disk 20 is fastened to the antenna rod 15, on which a compression spring 21 is supported, the other end of which rests on a sealing plug 22 which is fixedly arranged in the sleeve 17 in the assembled state.
  • the arrangement enables the transducer system, consisting of the two antennas 14 and 15 and the Hall generator 13 held in parts 18 and 19, to be pressed toward the patient's head.
  • the end 23 of the antenna rod 14 facing the housing 9 thus lies against a surface of the housing 9 which is directly adjacent to the patient's head.
  • the resulting fixed point is designated E in Fig. 2 for the transducer I. of the transducer block 7.
  • the fixed points A to D and F to G result analogously.
  • the antenna rods 14 and 15 are pressed 6 against the effective surfaces 24 of the plate-shaped Hall generators, which increases the antenna sensitivity.

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Physics & Mathematics (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • General Physics & Mathematics (AREA)
  • Animal Behavior & Ethology (AREA)
  • Biophysics (AREA)
  • Veterinary Medicine (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Dentistry (AREA)
  • Public Health (AREA)
  • General Health & Medical Sciences (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Surgery (AREA)
  • Molecular Biology (AREA)
  • Medical Informatics (AREA)
  • Pathology (AREA)
  • Physiology (AREA)
  • Epidemiology (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
  • Dental Tools And Instruments Or Auxiliary Dental Instruments (AREA)
  • Dental Prosthetics (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)
  • Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)

Abstract

Die Erfindung bezieht sich auf eine Vorrichtung zur Messung und Registrierung des Ortes, der Lage und/oder der Orts- bzw. Lageänderung eines starren Körpers im Raum, unter Verwendung eines am Körper direkt oder im Abstand davon angeordneten Felderzeugers, vorzugsweise eines Magnetfelderzeugers, der ein definiertes unregelmäßiges Feld erzeugt, im Abstand vom Felderzeuger angeordneten, vom Körper unabhängigen Aufnehmern mit feldflußabhängigen Sensorelementen zur Erfassung eines Feldflusses bzw. einer Feldflußänderung während einer Messung sowie einer elektronischen Einrichtung zur Gewinnung und Auswertung von bei einem Feldfluß bzw. einer Feldflußänderung entstehenden elektrischen Signalen. Die Sensorelemente (13) bzw. die zur Erfassung des Feldflusses oder der Feldflußänderung maßgebenden Bezugsstellen (A bis H) der Aufnehmer (I bis VIII) sind so angeordnet, daß sie die Eckpunkte eines Quaders (25) bilden. Der Felderzeuger (3) ist dabei innerhalb des durch den Quader bestimmten Raumes angeordnet. Die Vorrichtung ist insbesondere für den Einsatz in der Zahnmedizin, und zwar zur Erfassung der Unterkieferbewegung eines Patienten, vorgesehen.The invention relates to a device for measuring and registering the location, the position and / or the change of location or position of a rigid body in space, using a field generator arranged on the body directly or at a distance therefrom, preferably a magnetic field generator Defined irregular field, arranged at a distance from the field generator, sensor independent of the body with field flow-dependent sensor elements for detecting a field flow or a field flow change during a measurement and an electronic device for obtaining and evaluating electrical signals arising in a field flow or a field flow change. The sensor elements (13) or the reference points (A to H) of the sensors (I to VIII) which are decisive for detecting the field flow or the change in the field flow are arranged such that they form the corner points of a cuboid (25). The field generator (3) is arranged within the space defined by the cuboid. The device is intended in particular for use in dentistry, specifically for detecting the movement of the lower jaw of a patient.

Description

Die Erfindung bezieht sich auf eine Vorrichtung zur Messung und Registrierung des Ortes, der Lage und/oder der Orts- bzw. Lageänderung eines starren Körpers im Raum unter Verwendung eines am Körper direkt oder im Abstand davon angeordneten Felderzeugers, vorzugsweise eines Magnetfelderzeugers, der ein definiertes unregelmäßiges Feld erzeugt,mit im Abstand vom Felderzeuger angeordneten, vom Körper unabhängigen Aufnehmern mit feldflußabhängigen Sensorelementen zur Erfassung des Feldflusses bzw. einer Feldflußänderung während einer Messung sowie mit einer elektronischen Einrichtung zur Gewinnung und Auswertung von bei einem Feldfluß bzw. einer Feldflußänderung entstehenden elektrischen Signalen.The invention relates to a device for measuring and registering the location, the position and / or the change in position or location of a rigid body in space using a field generator arranged on the body directly or at a distance therefrom, preferably a magnetic field generator, which has a defined Irregular field generated with transducers arranged at a distance from the field generator and independent of the body with field flow-dependent sensor elements for detecting the field flow or a field flow change during a measurement as well as with an electronic device for obtaining and evaluating electrical signals generated during a field flow or a field flow change.

In der deutschen Patentanmeldung P 28 14 551 wird eine Vorrichtung der genannten Art vorgeschlagen, bei der als Felderzeuger ein V-förmiger Permanentmagnet,und zur Erfassung des Feldflusses bzw. einer Feldflußänderung sechs stabförmige Magnetflußaufnehmer vorgesehen sind. Die Magnetflußaufnehmer sind paarweise in drei senkrecht zueinander stehenden Ebenen angeordnet; durch ihre Anordnung werden also drei senkrecht zueinander stehende Flächen gebildet. Das gesamte Aufnehmersystem ist seitlich versetzt am Patienten angeordnet. Wegen der asymetrischen Anordnung des Systems ergeben sich nichtlineare Signale, die,um überhaupt auswertbar zu sein, auf elektronischem Wege mit einem entsprechenden Schaltungsaufwand linearisiert werden müssen. Die Bedienung der Vorrichtung ist außerdem im Hinblick auf die Justierung der Magnetfeldaufnehmer am Kopf des Patienten und bezüglich des Nullabgleichs der Elektronik für den Arzt zu kompliziert und zeitaufwendig. Der Abgleich des Linearisierungsverstärkers ist außerdem problematisch, weil sich eine Ungenauigkeit, z.B. hervorgerufen durch eine Temperaturdrift, wegen der nichtlinearen Kennlinie der zur Anwendung kommenden Sensorelemente (in der Regel Hallgeneratoren), die die Aufnehmer beinhalten, auf die Empfindlichkeit und damit auf die Reproduzierbarkeit der gewonnenen Signale auswirkt.In the German patent application P 28 14 551 a device of the type mentioned is proposed in which a V-shaped permanent magnet as the field generator, and six rod-shaped magnetic flux sensors are provided for detecting the field flux or a change in the field flux. The magnetic flux sensors are arranged in pairs in three mutually perpendicular planes; their arrangement thus creates three surfaces perpendicular to each other. The entire transducer system is laterally offset on the patient. Because of the asymmetrical arrangement of the system, non-linear signals result which, in order to be evaluable at all, have to be linearized electronically with a corresponding circuit outlay. The operation of the device is also too complicated and time-consuming for the doctor with regard to the adjustment of the magnetic field sensors on the patient's head and with regard to the zero adjustment of the electronics. The adjustment of the linearization amplifier is also problematic because an inaccuracy, e.g. caused by a temperature drift, due to the nonlinear characteristic of the sensor elements used (usually Hall generators), which contain the sensors, on the sensitivity and thus on the reproducibility of the obtained ones Signals affects.

Aufgabe der Erfindung ist es, eine demgegenüber bessere und einfachere Vorrichtung der genannten Art anzugeben, die insbesondere einen geringeren Schaltungsaufwand zur Signalauswertung erfordert und von der Bedienung her einfacher ist, so daß auch der Arzt als Nichtfachmann das Justieren der Aufnehmer leicht bewerkstelligen kann.The object of the invention is to provide a better and simpler device of the type mentioned, which in particular requires less circuitry for signal evaluation and is easier to operate, so that even the doctor as a non-specialist can easily adjust the transducers.

Die gestellte Aufgabe wird bei einer Vorrichtung der eingangs genannten Art gemäß der.Erfindung dadurch gelöst, daß die Sensorelemente bzw. die zur Erfassung des Feldflusses oder der Feldflußänderung maßgebenden Bezugsstellen der Aufnehmer so angeordnet sind, daß sie die Eckpunkte eines Quaders bilden und daß der Felderzeuger innerhalb des durch die Eckpunkte des Quaders bestimmten Raumes angeordnet ist. Die gemäß der Erfindung vorgeschlagene Anordnung ist symmetrisch aufgebaut, so daß sich ein einfacherer Schaltungsaufwand zur Auswertung der von den Aufnehmern gewonnenen Signale erzielen läßt. Außerdem ist es möglich, die Magnetflußaufnehmer seitlich am Kopf des Patienten anzuordnen, so daß der Zugang zum Patientenmund weitgehend frei bleibt.The object is achieved in a device of the type mentioned in accordance with the invention in that the sensor elements or the reference points of the transducers which are decisive for detecting the field flow or the change in the field flow are arranged such that they form the corner points of a cuboid and that the field generator is arranged within the space determined by the corner points of the cuboid. The arrangement proposed according to the invention is constructed symmetrically, so that a simpler circuitry for evaluating the signals obtained by the sensors can be achieved. In addition, it is possible to arrange the magnetic flux sensors laterally on the patient's head, so that access to the patient's mouth remains largely free.

Vorteilhafte Ausgestaltungen und Weiterbildungen der Erfindung sind in den Unteransprüchen enthalten. Ein Ausführungsbeispiel der Erfindung wird nachstehend anhand der Zeichnung näher erläutert. Es zeigen:

  • Fig. 1 die erfindungsgemäße Vorrichtung in einer schaubildlichen Darstellung,
  • Fig. 2 einen Teil des Aufnehmersystems in schaubildlicher Darstellung,
  • Fig. 3 einen Magnetflußaufnehmer des in Fig. 2 gezeigten Aufnehmersystems in einer Explosionsdarstellung,
  • Fig. 4 eine perspektivische Darstellung des durch die Eckpunkte der einzelnen Aufnehmer gebildeten Quaders,
  • Fig. 5 und 6 Blockschaltbilder zur Signalauswertung.
Advantageous refinements and developments of the invention are contained in the subclaims. An embodiment of the invention is explained below with reference to the drawing. Show it:
  • 1 shows the device according to the invention in a diagrammatic representation,
  • 2 shows a part of the sensor system in a diagrammatic representation,
  • 3 shows a magnetic flux sensor of the sensor system shown in FIG. 2 in an exploded view,
  • 4 is a perspective view of the cuboid formed by the corner points of the individual transducers,
  • 5 and 6 block diagrams for signal evaluation.

Die Fig. 1 zeigt in einer schaubildlichen Darstellung die erfindungsgemäße Vorrichtung in einer besonders vorteilhaften Anwendung,nämlich in der Zahnmedizin, zur Bestimmung des Ortes, der Lage und/oder einer Orts- bzw. Lageänderung eines Punktes des Unterkiefers eines Patienten. In der Figur ist mit 1 der Kopf eines Patienten und mit 2 dessen Unterkiefer bezeichnet. Mit 3 ist ein als Felderzeuger dienender Permanentmagnet bezeichnet, der intraoral an einer beliebigen Stelle des Unterkiefers durch geeignete Haft- oder Klebemittel (z.B. Abdruckmasse) befestigt wird. Der Magnetfelderzeuger 3 besteht aus zwei gleichdimensionierten Stabmagneten, wie sie in der deutschen Patentanmeldung P 27 15 106 näher beschrieben sind. Der Öffnungswinkel der beiden Stabmagnete beträgt etwa 90°. Die Stabmagnete sind relativ klein; sie haben etwa eine Länge von 3 mm und einen Querschnitt von etwa 1 mm im Quadrat. Der Magnetfelderzeuger 3 erzeugt zwei in der Figur gestrichelt angedeutete, unregelmäßige, nicht rotationssymmetrische Magnetfelder M1 und M2.1 shows a diagrammatic representation of the device according to the invention in a particularly advantageous application, namely in dentistry, for determining the location, the position and / or a change in location or position of a point on the lower jaw of a patient. In the figure, 1 denotes the head of a patient and 2 the lower jaw. 3 with a permanent magnet serving as a field generator is designated, which is attached intraorally at any point on the lower jaw by means of suitable adhesives or adhesives (eg impression material). The magnetic field generator 3 consists of two bar magnets of the same dimensions, as described in more detail in the German patent application P 27 15 106. The opening angle of the two bar magnets is approximately 90 °. The bar magnets are relatively small; they have a length of approximately 3 mm and a cross section of approximately 1 mm square. The magnetic field generator 3 generates two irregular, non-rotationally symmetrical magnetic fields M 1 and M 2 indicated by dashed lines in the figure.

Extraoral des Patientenmundes befindet sich eine Magnetflußaufnehmeranordnung 4, bestehend im wesentlichen aus einem am Patientenkopf 1 gehalterten Gestell 5 und einem Aufnehmersystem mit einem links und rechts vom Unterkiefer befindlichen Aufnehmerblock 6 und 7. Das Gestell 5 ist in bekannter Weise als kombiniertes Brillen- oder Kopfgestell ausgebildet und enthält mehrere, nicht näher bezeichnete Gelenke zur Anpassung an die unterschiedlichen Kopfkonstellationen eines Patienten. Die beiden Aufnehmerblöcke 6, 7 sind durch eine mit dem Gestell 5 verbundene Stange 8 starr miteinander verbunden.Extraoral to the patient's mouth is a magnetic flux sensor arrangement 4, consisting essentially of a frame 5 held on the patient's head 1 and a sensor system with a sensor block 6 and 7 located to the left and right of the lower jaw. The frame 5 is designed in a known manner as a combined glasses or head frame and contains several, unspecified joints to adapt to the different head constellations of a patient. The two sensor blocks 6, 7 are through a rod 8 connected to the frame 5 rigidly connected to one another.

Jeder der Aufnehmerblöcke 6, 7 enthält vier Magnetflußaufnehmer I bis VIII, die in einem Kunststoffgehäuse 9 bzw. 10.gehaltert sind, und zwar so, daß sie jeweils parallel zueinander liegen. Die von den Magnetflußaufnehmern I bis VIII aufgenommenen Signale werden über Leitungen 10 einer elektronischen Auswerteinrichtung 11ind von dort aus weiter einer geeigneten Indikatoreinrichtung 12 zugeführt.Each of the sensor blocks 6, 7 contains four magnetic flux sensors I to VIII, which are held in a plastic housing 9 and 10, respectively, in such a way that they are in each case parallel to one another. The signals recorded by the magnetic flux sensors I to VIII are fed via lines 10 to an electronic evaluation device 11ind from there to a suitable indicator device 12.

Die Fig. 2 läßt anhand des Magnetflußaufnehmerblockes 7 die Anordnung der Magnetflußaufnehmer I bis VIII-erkennen. Jeder Magnetflußaufnehmer enthält einen als Sensorelement dienenden plättchenförmigen Hallgenerator 13, an dessen wirksame Fläche (in Fig. 3 mit 24 bezeichnet) beidseitig verschieden lange Antennenstäbe 14, 15 aus Mu-Metall anliegen. Die von den Magnetflußaufnehmern I bis VIII bzw. von den Hallgeneratoren 13 aufgenommenen Signale werden über den im Gehäuse 9 angeordneten Vorverstärker 16 verstärkt der Elektronikeinheit 11 zugeführt. Durch die Anordnung eines Vorverstärkers in den beiden Gehäusen 9 und 10läßt sich eine Reduzierung der Anzahl der Leitungen 10 zur Elektronikeinheit 11 erzielen.2 shows the arrangement of the magnetic flux sensors I to VIII on the basis of the magnetic flux sensor block 7. Each magnetic flux sensor contains a platelet-shaped Hall generator 13 serving as a sensor element, on the effective surface of which (denoted by 24 in FIG. 3) there are antenna rods 14, 15 of mu-metal of different lengths on both sides. The signals picked up by the magnetic flux sensors I to VIII or by the Hall generators 13 are fed increasingly to the electronics unit 11 via the preamplifier 16 arranged in the housing 9. By arranging a preamplifier in the two housings 9 and 10, the number of lines 10 to the electronics unit 11 can be reduced.

Die Fig. 3 zeigt in einer Explosionsdarstellung anhand des Magnetflußaufnehmers I den Aufbau der stabförmigen Magnetflußaufnehmer. Der Aufnehmer enthält eine Hülse 17 aus nicht ferromagnetischem Material, vorzugsweise aus Kunststoff, in die ein aus zwei Teilen 18, 19 bestehendes Tragteil für den Hallgenerator 13 eingeschoben wird. Die beiden Tragteile 18, 19 sind mit entsprechenden Bohrungen zur Führung einerseits des kürzeren Antennenstabes 14 und andererseits des längeren Antennenstabes 15 versehen. Die Tragteile 18 und 19 sind im zusammengefügten Zustand in der Hülse 17 längsbeweglich geführt. Am Antennenstab 15 ist eine Scheibe 20 befestigt, an der sich eine Druckfeder 21 abstützt, die mit ihrem anderen Ende an einem im montierten Zustand in der Hülse 17 fest angeordneten Verschlußstopfen 22 stirnseitig anliegt. Die Anordnung ermöglicht, daß das Aufnehmersystem, bestehend aus den beiden Antennen 14 und 15 und dem in den Teilen 18 und 19 gehalterten Hallgenerator 13 zum Patientenkopf hin gedrückt wird. Das dem Gehäuse 9 zugewandte Ende 23 des Antennenstabes 14 liegt so an einer dem Patientenkopf unmittelbar benachbarten Fläche des Gehäuses 9 an. Der sich dabei ergebende Festpunkt ist in Fig. 2 für den Aufnehmer I.des Aufnehmerblockes 7 mit E bezeichnet. Für die übrigen Aufnehmer II bis VIII ergeben sich analog die Festpunkte A bis D und F bis G. Infolge der federnden Anordnung der Teile werden die Antennenstäbe 14 und 15 gegen die wirksamen Flächen 24 der plättchenförmigen Hallgeneratoren gedrück6, wodurch die Antennenempfindlichkeit erhöht wird.3 shows an exploded view of the magnetic flux sensor I, the structure of the rod-shaped magnetic flux sensor. The transducer contains a sleeve 17 made of non-ferromagnetic material, preferably made of plastic, into which a supporting part for the Hall generator 13 is inserted, which consists of two parts 18, 19. The two support parts 18, 19 are with ent speaking holes for guiding the shorter antenna rod 14 on the one hand and the longer antenna rod 15 on the other hand. The supporting parts 18 and 19 are guided in the sleeve 17 in a longitudinally movable manner. A disk 20 is fastened to the antenna rod 15, on which a compression spring 21 is supported, the other end of which rests on a sealing plug 22 which is fixedly arranged in the sleeve 17 in the assembled state. The arrangement enables the transducer system, consisting of the two antennas 14 and 15 and the Hall generator 13 held in parts 18 and 19, to be pressed toward the patient's head. The end 23 of the antenna rod 14 facing the housing 9 thus lies against a surface of the housing 9 which is directly adjacent to the patient's head. The resulting fixed point is designated E in Fig. 2 for the transducer I. of the transducer block 7. For the other transducers II to VIII, the fixed points A to D and F to G result analogously. As a result of the resilient arrangement of the parts, the antenna rods 14 and 15 are pressed 6 against the effective surfaces 24 of the plate-shaped Hall generators, which increases the antenna sensitivity.

Durch die symmetrische Anordnung der Hallgeneratoren 13 in der aufgezeigten Weise bilden diese bzw. die Festpunkte A bis H, diedurch das Anliegen der Enden 23 der den Hallgeneratoren 13 zugeordneten Antennenstäbe 14 am Gehäuse 9 bzw. 10 gebildet werden, den in Fig. 4 mit 25 bezeichneten Quader. Der Magnetfelderzeuger 3 ist, wie aus Fig. 1 zu ersehen ist, innerhalb des durch den Quader 25 gebildeten Raumes angeordnet. Ausgehend von einem in diesem Raum angenommenen Punkt P, in dem sich der Magnetfelderzeuger 3 befindet, werden durch die symmetrische Anordnung der Magnetfeldaufnehmer an den für die Antennenwirkung repräsentativen Eckpunkten A bis H bezüglich einer Translationsbewegung des Unterkiefers bzw. des Felderzeugers in den drei Ebenen x, y und z Signale entsprechend folgender Beziehungen gewonnen:

  • A + B + C + D prop. x
  • C + .D + G + H prop. y
  • A + E + C + G prop. z
Due to the symmetrical arrangement of the Hall generators 13 in the manner shown, these or the fixed points A to H, which are formed by the ends 23 of the antenna rods 14 assigned to the Hall generators 13 resting on the housing 9 or 10, form the 25 in FIG designated cuboid. As can be seen from FIG. 1, the magnetic field generator 3 is arranged within the space formed by the cuboid 25. Starting from a point P assumed in this space, In which the magnetic field generator 3 is located, the symmetrical arrangement of the magnetic field sensors at the corner points A to H representative of the antenna effect with respect to a translational movement of the lower jaw or the field generator in the three planes x, y and z signals are obtained in accordance with the following relationships:
  • A + B + C + D prop. x
  • C + .D + G + H prop. y
  • A + E + C + G prop. e.g.

Bei einer Bewegung in die Gegenrichtung ergibt sich analog:

  • E + F + G + H prop. -x
  • A + B + E + F prop. -y
  • B + F + D + H prop. -z
When moving in the opposite direction, the following results analogously:
  • E + F + G + H prop. -x
  • A + B + E + F prop. -y
  • B + F + D + H prop. -z

Durch Verknüpfung der Signale entsprechend dem Blockschaltbild nach Fig. 5 durch jeweils einen Additionsverstärker 26, 27 und einen Differenzverstärker 28 erhält man ein entsprechend auswertbares Nutzsignal 2x. Für die Signale y und z gilt analoges.By linking the signals in accordance with the block diagram of FIG. 5 by an addition amplifier 26, 27 and a differential amplifier 28, a useful signal 2x which can be evaluated is obtained. The same applies to the signals y and z.

Für die Aufnahme einer Rotationsbewegung werden die Signale von jeweils zwei diagonal einander gegenüberliegenden Eckpunktpaaren mit den komplementären Eckpunktpaaren differentiell miteinander verknüpft. In Fig. 4 sind die sich hieraus ergebenden Diagonalflächen für die Signalverarbeitung einer Rotationsbewegung um die z-Achse schraffiert eingezeichnet. Für die Signalverarbeitung gilt:

  • A + B + G + H prop. Rot. z
  • A + E + D + H prop. Rot. x
  • B + D + E + G prop. Rot. y
To record a rotational movement, the signals from two diagonally opposite pairs of corner points are differentially linked with the complementary pairs of corner points. The resulting diagonal surfaces for the signal processing of a rotational movement about the z-axis are shown hatched in FIG. 4. The following applies to signal processing:
  • A + B + G + H prop. Red
  • A + E + D + H prop. Red. X
  • B + D + E + G prop. Red. Y

Für die Gegenrichtung gilt entsprechend:

  • E + F + C + D prop. - Rot. z
  • B + F + C + G prop. - Rot. x
  • A + C + F + H prop. - Rot. y
The following applies accordingly to the opposite direction:
  • E + F + C + D prop. - Red
  • B + F + C + G prop. - Red. X
  • A + C + F + H prop. - Red. Y

Die Signale werden auch hier über Additionsverstärker 29 und 30 und einem Differenzverstärker 31 entsprechend der nachstehenden Beziehung verarbeitet:

  • (A + E + D + H) - (B + F + C + G) prop. 2 ·Rot. x
  • (B + D + E + G) - (A + C + F + H) prop. 2·Rot. y
  • (A + B + G + H) - (E + F + C + D) prop. 2·Rot. z
The signals are also processed here via addition amplifiers 29 and 30 and a differential amplifier 31 in accordance with the following relationship:
  • (A + E + D + H) - (B + F + C + G) prop. 2 · red. x
  • (B + D + E + G) - (A + C + F + H) prop. 2 · red. y
  • (A + B + G + H) - (E + F + C + D) prop. 2 · red. e.g.

Entsprechend der Signalverarbeitung nach den Fig. 5 und 6 können in den drei Ebenen x, y und z auf einfache Weise Direktsignale für eine Translations- und eine Rotationsbewegung gewonnen werden. Dadurch, daß jeder Eckpunkt für mehrere Flächen ausgenutzt wird, z.B. der Eckpunkt A sowohl für die Fläche A, B, C, D als auch für die Fläche A, E, G, C und A, B, E, F, ergibt sich ein einfacher Aufbau des gesamten Aufnehmersystems. Durch das erläuterte Prinzip der Differenzbildung der Signale der jeweils komplementären Ebene läßt sich außerdem ein weit größerer Linearitätsbereich schaffen als bei dem bisherigen System, wo aufgrund der Charakteristik des Systems Magnet/Antenne an sich ein begrenzter Linearitätsbereich gegeben und dadurch zusätzliche Linearisierungsverstärker notwendig waren.According to the signal processing according to FIGS. 5 and 6, direct signals for a translation and a rotation movement can be obtained in a simple manner in the three planes x, y and z. By using each corner point for several surfaces, e.g. The corner point A for the area A, B, C, D as well as for the area A, E, G, C and A, B, E, F, results in a simple structure of the entire transducer system. The explained principle of forming the difference between the signals of the respective complementary level also allows a far greater linearity range to be created than in the previous system, where, due to the characteristics of the magnet / antenna system, there was a limited linearity range per se and additional linearization amplifiers were therefore necessary.

Claims (12)

1. Vorrichtung zur Messung und Registrierung des Ortes, der Lage und/oder der Orts- bzw. Lageänderung eines starren Körpers im Raum, unter Verwendung eines am Körper direkt oder im abstand davon angeordneten Felderzeugers, vorzugsweise eines Magnetfelderzeugers, der ein definiertes unregelmäßiges Feld erzeugt, mit im Abstand vom Felderzeuger angeordneten, vom Körper unabhängigen Aufnehmern mit feldflußabhängigen Sensorelementen zur Erfassung des Feldflusses bzw. einer Feldflußänderung während einer Messung sowie mit einer elektronischen Einrichtung zur Gewinnung und Auswertung von bei einem Feldfluß bzw. einer Feldflußänderung entstehenden elektrischen Signalen, dadurch gekennzeichnet , daß die Sensorelemente (13) bzw. die zur Erfassung des Feldflusses oder der Feldflußänderung maßgebenden Bezugsstellen (A bis H) der Aufnehmer (I bis VIII) so angeordnet sind, daß sie die Eckpunkte eines Quaders (25) bilden und daß der Felderzeuger (3) innerhalb des durch die Eckpunkte des Quaders bestimmten Raumes angeordnet ist.1. Device for measuring and registering the location, the position and / or the change of location or position of a rigid body in space, using a field generator arranged directly on or at a distance from the body, preferably a magnetic field generator, which generates a defined irregular field , with sensors, which are arranged at a distance from the field generator and are independent of the body, with field flow-dependent sensor elements for detecting the field flow or a field flow change during a measurement, and with an electronic device for obtaining and evaluating electrical signals resulting from a field flow or a field flow change, characterized in that that the sensor elements (13) or the reference points (A to H) of the transducers (I to VIII) which are decisive for detecting the field flow or the change in the field flow are arranged such that they form the corner points of a cuboid (25) and that the field generator (3 ) within the area determined by the corner points of the cuboid mmten room is arranged. 2. Vorrichtung nach Anspruch 1, dadurch gekennzeichnet , daß den Sensorelementen (13) die Feldlinien konzentrierende Antennen (14, 15) zugeordnet sind, deren dem Felderzeuger (3) zugewandte Enden (23) die Eckpunkte (A bis H) des Quaders (25) bilden.2. Device according to claim 1, characterized in that the sensor elements (13) are assigned to the field lines concentrating antennas (14, 15) whose ends (23) facing the field generator (3) have the corner points (A to H) of the cuboid (25 ) form. 3. Vorrichtung nach Anspruch 2, dadurch gekennzeichnet , daß an sich bekannte stabförmige Antennen (14, 15) vorgesehen sind, die senkrecht zur wirksamen Fläche (24) der Sensorelemente (13) angeordnet sind.3. Device according to claim 2, characterized in that known rod-shaped antennas (14, 15) are provided, which are arranged perpendicular to the effective surface (24) of the sensor elements (13). 4. Vorrichtung nach Anspruch 3, dadurch gekennzeichnet , daß die Ant-ennen (14, 15) sämtlicher Aufnehmer (I bis VIII) parallel zueinander angeordnet sind.4. The device according to claim 3, characterized in that the antennas (14, 15) of all sensors (I to VIII) are arranged parallel to one another. 5. Vorrichtung nach einem der Ansprüche 1 bis 4, dadurch gekennzeichnet , daß die Antennen (14, 15) mittels Federelemente (21) an die wirksamen Flächen (24) der Sensorelemente (13) angedrückt werden.5. Device according to one of claims 1 to 4, characterized in that the antennas (14, 15) by means of spring elements (21) on the effective surfaces (24) of the sensor elements (13) are pressed. 6. Vorrichtung nach einem der Ansprüche 1 bis 5, dadurch gekennzeichnet , daß beidseitig der Sensorelemente (13) ein Antennenstab (14, 15) vorhanden ist.6. Device according to one of claims 1 to 5, characterized in that an antenna rod (14, 15) is present on both sides of the sensor elements (13). 7. Vorrichtung nach einem der Ansprüche 1 bis 6, dadurch gekennzeichnet , daß die Sensorelemente (13) in Aufnahmeteilen (18, 19) aus nicht ferromagnetischem Material, vorzugsweise aus Kunststoff, angeordnet sind, welche beidseitig eine Führung für die Antennenstäbe (14, 15) enthalten und die Aufnahmeteile (18, 19) in einer Hülse (17) längsbeweglich geführt sind und mittels eines Federelementes (21) gegen einen einen Eckpunkt des Quaders (25) bildenden Bezugspunkt (E) gedrückt wird.7. Device according to one of claims 1 to 6, characterized in that the sensor elements (13) in receiving parts (18, 19) made of non-ferromagnetic material, preferably made of plastic, are arranged on both sides a guide for the antenna rods (14, 15th ) and the receiving parts (18, 19) are guided in a sleeve (17) for longitudinal movement and are pressed by means of a spring element (21) against a reference point (E) forming a corner point of the cuboid (25). 8. Vorrichtung nach einem der Ansprüche 1 bis 7, dadurch gekennzeichnet , daß jeweils vier Aufnehmer (I bis IV) in einem Gehäuse (9) zur Aufnahme eines elektrischen Vorverstärkers (16) angeordnet sind.8. Device according to one of claims 1 to 7, characterized in that four sensors (I to IV) are arranged in a housing (9) for receiving an electrical preamplifier (16). 9. Vorrichtung nach einem der Ansprüche 1 bis 8, dadurch gekennzeichnet , daß zur Erfassung der Translationsbewegung die von den Sensorelementen (13) jeweils einer Fläche (A,B,C,D) des Quaders (25) gebildeten Signale einem Additionsverstärker (26) zugeführt werden.9. Device according to one of claims 1 to 8, characterized in that the signals formed by the sensor elements (13) each have a surface (A, B, C, D) of the cuboid (25) for detecting the translation movement an addition amplifier (26) are fed. 10. Vorrichtung nach einem der Ansprüche 1 bis 9, dadurch gekennzeichnet , daß zur Ausschaltung von äußeren Störfeldern die Signale von jeweils zwei parallelen Flächen (A,B,C,D und E,F,G,H) Additionsverstärkern (26, 27) zugeführt werden, die daraus zwei Flächensignale bilden, die über einenDifferenzverstärker (28) verknüpft das doppelte Nutzsignal (2 x-Transl.) und ein zu Null kompensiertes Störsignal liefern.10. Device according to one of claims 1 to 9, characterized in that for switching off external interference fields, the signals from two parallel surfaces (A, B, C, D and E, F, G, H) addition amplifiers (26, 27) are supplied, which form two surface signals therefrom, which, via a differential amplifier (28), deliver the double useful signal (2 x transl.) and an interference signal compensated for zero. 11. Vorrichtung nach einem der Ansprüche 1 bis 10, dadurch gekennzeichnet , daß zur Erfassung der Rotationsbewegung jeweils zwei diagonal einander gegenüberliegende Eckpunktpaare (A,B,G,H) einem Additionsverstärker (29) zugeführt werden.11. The device according to one of claims 1 to 10, characterized in that for detecting the rotational movement in each case two diagonally opposite pairs of corner points (A, B, G, H) are fed to an addition amplifier (29). 12. Vorrichtung nach Anspruch 11, dadurch gekennzeichnet , daß die Signale von jeweils zwei komplementären Diagonalflächen (A,B,G,H und C,D,E,F) Additionsverstärkern (29 und 30) zugeführt werden, die daraus zwei Flächensignale bilden, die über einen Differenzverstärker (31) verknüpft das doppelte Nutzsignal (2 z.Rot.) und ein zu Null kompensiertes Störsignal liefern.12. The apparatus according to claim 11, characterized in that the signals from two complementary diagonal surfaces (A, B, G, H and C, D, E, F) addition amplifiers (29 and 30) are fed, which form two surface signals therefrom, the linked via a differential amplifier (31) deliver the double useful signal (2 z.Rot.) and an interference signal compensated for zero.
EP79104776A 1978-12-06 1979-11-29 Device for measuring and registering the position, the attitude and/or the variation in position or attitude of a rigid body in space Expired EP0012282B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE2852764A DE2852764C2 (en) 1978-12-06 1978-12-06 Device for measuring and recording the location, position and/or change in location or position of a rigid body in space
DE2852764 1978-12-06

Publications (2)

Publication Number Publication Date
EP0012282A1 true EP0012282A1 (en) 1980-06-25
EP0012282B1 EP0012282B1 (en) 1983-04-20

Family

ID=6056474

Family Applications (1)

Application Number Title Priority Date Filing Date
EP79104776A Expired EP0012282B1 (en) 1978-12-06 1979-11-29 Device for measuring and registering the position, the attitude and/or the variation in position or attitude of a rigid body in space

Country Status (4)

Country Link
US (1) US4371836A (en)
EP (1) EP0012282B1 (en)
JP (1) JPS5585205A (en)
DE (1) DE2852764C2 (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0185166A1 (en) * 1984-11-13 1986-06-25 Eflab Oy Identifier of location
EP0242522A1 (en) * 1986-02-27 1987-10-28 Siemens Aktiengesellschaft Device for measuring the position, the orientation and/or the positional and orientational change of a rigid object in space
EP0270322A2 (en) * 1986-12-05 1988-06-08 The Charles Stark Draper Laboratory, Inc. Multiple axis displacement system
EP0523905A2 (en) * 1991-07-09 1993-01-20 Stryker Corporation Axial alignment of a drill guide

Families Citing this family (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2944490C2 (en) * 1979-11-03 1985-02-21 Siemens AG, 1000 Berlin und 8000 München Process for eliminating the influence of remanence in receiving systems and device for carrying out the process
JPS58160023U (en) * 1982-04-20 1983-10-25 株式会社モリタ製作所 Measurement reference rod for mandibular movement diagnostic equipment
LU84209A1 (en) * 1982-06-17 1984-03-07 Cen Centre Energie Nucleaire INSTALLATION FOR DETERMINING THE POSITION OF A METAL BODY IN AN ELECTRICALLY CONDUCTIVE MEDIUM
DE3326476A1 (en) * 1983-07-22 1985-02-14 Telefunken electronic GmbH, 7100 Heilbronn Arrangement for determining the position, the geometrical dimensions or the kinetic quantities of an object
DE3327742A1 (en) * 1983-08-01 1985-02-14 Siemens AG, 1000 Berlin und 8000 München DEVICE FOR MEASURING THE LOCATION, LOCATION AND / OR LOCATION OR CHANGE OF POSITION OF A RIGID BODY IN THE SPACE
US4622644A (en) * 1984-05-10 1986-11-11 Position Orientation Systems, Ltd. Magnetic position and orientation measurement system
JPH07113551B2 (en) * 1986-07-21 1995-12-06 ティーディーケイ株式会社 Tilt sensor
US4789826A (en) * 1987-03-19 1988-12-06 Ampex Corporation System for sensing the angular position of a rotatable member using a hall effect transducer
US4910459A (en) * 1987-12-26 1990-03-20 Tdk Corporation Magnetic tile sensor with a non-magnetic case having a flange and a cover cold welded thereon
US4922925A (en) * 1988-02-29 1990-05-08 Washington University Computer based upper extremity evaluation system
GB8913200D0 (en) * 1989-06-08 1989-07-26 Woodbridge Electronics Limited Method and device for locating branches in drains
DE4219734A1 (en) * 1992-06-17 1993-12-23 Helge Arndt Apparatus for guiding a substance-removing and / or substance-applying dental instrument and / or at least a portion of a measuring device for geometric shape and / or path detection
WO1994005964A1 (en) * 1992-08-28 1994-03-17 Oswald Richard K A magnetic field position transducer for two or more dimensions
CN102626348B (en) * 2012-04-19 2014-04-02 大连理工大学 Mandibular movement imitating robot
DE102013109180B3 (en) * 2013-08-23 2014-09-18 Romy Spindler Apparatus and method for detecting jaw-guided lower jaw movement, articulator and method for simulating jaw movement on an articulator
US11143885B2 (en) * 2017-09-25 2021-10-12 Verily Life Sciences Llc Smart contact lens with antenna and sensor
CN115461829B (en) 2020-05-12 2024-07-26 株式会社村田制作所 Dielectric composition and laminated ceramic capacitor

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3971983A (en) * 1972-06-06 1976-07-27 Infinetics, Inc. Ferromagnetic metal detector utilizing gradiometers positioned on opposite sides of the detection area with overlapping sensitivity
FR2386807A1 (en) * 1977-04-04 1978-11-03 Siemens Ag DEVICE FOR MEASURING THE LOCATION, POSITION AND / OR VARIATION OF LOCATION OR POSITION OF A RIGID BODY IN SPACE

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3027951A (en) * 1962-04-03 Method and apparatus for locating submarine wells
US3439358A (en) * 1965-11-30 1969-04-15 George Washington Ltd Activity detectors
JPS5018787B1 (en) * 1969-04-09 1975-07-02
US3822694A (en) * 1972-10-24 1974-07-09 Jankelson Bernard Method of monitoring mandibular positions and movements

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3971983A (en) * 1972-06-06 1976-07-27 Infinetics, Inc. Ferromagnetic metal detector utilizing gradiometers positioned on opposite sides of the detection area with overlapping sensitivity
FR2386807A1 (en) * 1977-04-04 1978-11-03 Siemens Ag DEVICE FOR MEASURING THE LOCATION, POSITION AND / OR VARIATION OF LOCATION OR POSITION OF A RIGID BODY IN SPACE

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0185166A1 (en) * 1984-11-13 1986-06-25 Eflab Oy Identifier of location
EP0242522A1 (en) * 1986-02-27 1987-10-28 Siemens Aktiengesellschaft Device for measuring the position, the orientation and/or the positional and orientational change of a rigid object in space
EP0270322A2 (en) * 1986-12-05 1988-06-08 The Charles Stark Draper Laboratory, Inc. Multiple axis displacement system
EP0270322A3 (en) * 1986-12-05 1989-05-31 The Charles Stark Draper Laboratory, Inc. Multiple axis displacement system
EP0523905A2 (en) * 1991-07-09 1993-01-20 Stryker Corporation Axial alignment of a drill guide
EP0523905A3 (en) * 1991-07-09 1993-05-12 Stryker Corporation Axial alignment of a drill guide

Also Published As

Publication number Publication date
JPH0238882B2 (en) 1990-09-03
US4371836A (en) 1983-02-01
EP0012282B1 (en) 1983-04-20
JPS5585205A (en) 1980-06-27
DE2852764A1 (en) 1980-06-26
DE2852764C2 (en) 1987-02-19

Similar Documents

Publication Publication Date Title
EP0012282B1 (en) Device for measuring and registering the position, the attitude and/or the variation in position or attitude of a rigid body in space
EP0175831B1 (en) Tooth sensor
EP0004888B1 (en) Device for measuring the position, the situation and/or changes in position or situation of a rigid body in a space
DE2715106C2 (en) Device for measuring the location, the position and / or the change in location or position of a rigid body in space
EP0100429B1 (en) Transducer
DE2011222A1 (en) Devices for the automatic determination of coordinate points
DE69704577T2 (en) ELECTRONIC PORTABLE PRECISION CALIBER
EP0006636A1 (en) Apparatus for the measurement of accelerations of a vibrating body
DE69204653T2 (en) Assembly of accelerometers for use in a measuring system for three-dimensional movements of a solid body.
EP0620416A1 (en) Magnetic measuring system
DE8523456U1 (en) Speed sensor
EP0142609B1 (en) Device for measuring the position, the attitude and/or the change of the position or the attitude of a rigid object in space
DE1264819B (en) Piezoelectric pressure transducer
DE10045381A1 (en) Position-locator comprises tilt-sensors, magnetic field sensor and active or passive reference body.
DE10053314B4 (en) Device for measuring the oxygen concentration in gases
DE2036895A1 (en) Satellite attitude control
DE102021106510A1 (en) TRANSMITTER AND RECEIVER CONFIGURATION FOR INDUCTION POSITION SENSORS
DE3347315C1 (en) Tooth measuring probe
DE102005045774A1 (en) Contactless position measuring device, has measuring head which determines direction of magnetic field that is influenced by position of component
DE3425561C2 (en) Device for measuring thermal parameters of a material sample
DE10024850C2 (en) Measuring arrangement, measuring head and method for producing a measuring head
DE3243954C2 (en) Electrical measuring device for determining the position of a measuring tip on top and a device equipped with it for the multi-dimensional measurement of jaw and jaw joint movements
DE2240794A1 (en) MOTION MEASURING DEVICE
DE3115961C2 (en) hygrometer
DE4327796A1 (en) Measurement-value pick-up

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

AK Designated contracting states

Designated state(s): FR GB IT

17P Request for examination filed

Effective date: 19801113

RBV Designated contracting states (corrected)

Designated state(s): FR GB IT

ITF It: translation for a ep patent filed
GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

AK Designated contracting states

Designated state(s): FR GB IT

ET Fr: translation filed
PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: GB

Payment date: 19891031

Year of fee payment: 11

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: FR

Payment date: 19891124

Year of fee payment: 11

ITTA It: last paid annual fee
PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: GB

Effective date: 19901129

GBPC Gb: european patent ceased through non-payment of renewal fee
PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: FR

Effective date: 19910731

REG Reference to a national code

Ref country code: FR

Ref legal event code: ST

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT